Abstract
In this paper, we designed the robotic polishing system for industrial polishing needs. The current robot polishing techniques are available for objects with CAD geometric models, but for an object whose geometric model is unavailable such as ceramic or clay pots, it is still a puzzle to derive robot polishing trajectories and force control. In our paper we designed a polishing system to polish any arbitrary objects by providing a rough robot trajectory and the polishing system will adjust its trajectory to maintain the desired contact force on the object. To perform the desired force tracking, the polishing system adopted an adaptive Fuzzy-PID controller to regulate its parameters and then actuated a stepper motor mounted on the tip center of the robot to the desired contact force. The designed system is capable to track the force with the overshoot less than 0.2 N and the response time less than 40 ms. The results dictated that the proposed controller is efficient in tracking the desired force with the indication of good polishing quality.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Guo, J., Suzuki, H., Morita, S.Y., Yamagata, Y., Higuchi, T.: A real-time polishing force control system for ultraprecision finishing of micro-optics. Precis. Eng. 37(4), 787–792 (2013)
Jin, M., Ji, S., Pan, Y., Ao, H., Han, S.: Effect of downward depth and inflation pressure on contact force of gasbag polishing. Precis. Eng. 47, 81–89 (2017)
Liao, L., Xi, F.J., Liu, K.: Modeling and control of automated polishing/deburring process using a dual-purpose compliant toolhead. Int. J. Mach. Tools Manuf. 48(12), 1454–1463 (2008)
Mohammad, A.E.K., Hong, J., Wang, D.: Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robot. Comput.-Integr. Manuf. 49, 54–65 (2018)
Nagata, F., Hase, T., Haga, Z., Omoto, M., Watanabe, K.: CAD/CAM-based position/force controller for a mold polishing robot. Mechatronics 17(4), 207–216 (2007)
Oba, Y., Yamada, Y., Igarashi, K., Katsura, S., Kakinuma, Y.: Replication of skilled polishing technique with serial-parallel mechanism polishing machine. Precis. Eng. 45, 292–300 (2016)
Pilnỳ, L., Bissacco, G.: Development of on the machine process monitoring and control strategy in robot assisted polishing. CIRP Ann.-Manuf. Technol. 64(1), 313–316 (2015)
Segreto, T., Karam, S., Teti, R., Ramsing, J.: Cognitive decision making in multiple sensor monitoring of robot assisted polishing. Procedia CIRP 33, 333–338 (2015)
Tian, F., Lv, C., Li, Z., Liu, G.: Modeling and control of robotic automatic polishing for curved surfaces. CIRP J. Manuf. Sci. Technol. 14, 55–64 (2016)
Xian, J.S.J.M.Z., Julong, Z.L.Z.Y.Y.: Novel gasbag polishing technique for free-form mold. Chin. J. Mech. Eng. 8, 004 (2007)
Xie, X., Sun, L.: Force control based robotic grinding system and application. In: 2016 12th World Congress on Intelligent Control and Automation (WCICA), pp. 2552–2555. IEEE (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Lin, HI., Dubey, V. (2019). Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_64
Download citation
DOI: https://doi.org/10.1007/978-3-030-01370-7_64
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01369-1
Online ISBN: 978-3-030-01370-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)